Tulak po krasu 2026

[m3d]

This is the competition "Tulak po krasu 2026" code used on June 14th 2026. The task (for Robotika team) was to navigate 4 Matty and 1 Pat robot in formation along the road 1.4km (we did not plan to turn around and return).

For Reviewer - this PR is just for info, feel free to ignore, or remove yourself. I also plan to move some bits into core OSGAR, so you can later reuse.

[m3d]

Interestingly there were moments when the last robot has seen all 3 AprilTags:

Also note, that there were moments where the choice of data[0] was failing:

0:17:26.797315 3 [[1.2738802853424471, 0.009094801649064201], [3.8269467486030613, 0.06303638384351394]]
0:17:26.896863 3 [[1.2612156249080342, 0.006585890849322352]]
0:17:26.997080 3 [[1.2673802962951644, 0.009094801649064201], [3.785101005175049, 0.0655452946432558]]
0:17:27.099002 3 [[3.7258743526102713, 0.0650748738683042], [1.2677473241080792, 0.006899504699290083]]

(apriltag.targets - [distance, angle])

[m3d]

moving the Pat related code to OSGAR, as the changes are really minor and all parts are already in OSGAR, see
robotika/osgar#1065

[m3d]

ready to merge ....